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http://dx.doi.org/10.5302/J.ICROS.2003.9.8.585

Internet-based Teleoperation of a Mobile Robot with Force-reflection  

진태석 (부산대학교 대학원 전자공학과)
임재남 (부산대학교 대학원 전자공학과)
이장명 (부산대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.8, 2003 , pp. 585-591 More about this Journal
Abstract
A virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.
Keywords
internet based control; virtual impedance; teleoperation; force reflection; mobile robot;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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